The theoretical research on localization using improved particle filter for mine rescue robot in unknown underground space

The localization for mine rescue robot in unknown space of coal mine emergency was researched, basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident, unknown circumstance, the unstructured, non-Gaussian and nonlinear work-space for robot works....

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Bibliographic Details
Published in:Journal of coal science & engineering, China China, 2008-09, Vol.14 (3), p.497-500
Main Author: 马宏伟 李晓鹏
Format: Article
Language:English
Subjects:
Earth and Environmental Science
Earth Sciences
Geochemistry
Geology
Geophysics/Geodesy
Geotechnical Engineering & Applied Earth Sciences
Mechanical Engineering
煤炭开采
矿山营救机器人
矿山设备
颗粒过滤器
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Summary:The localization for mine rescue robot in unknown space of coal mine emergency was researched, basing on the requirement of mine rescue robot localization which enters the scene of the coal mine accident, unknown circumstance, the unstructured, non-Gaussian and nonlinear work-space for robot works. The localization using particle filter was proposed to which is applied in mine rescue robot in unknown under-ground space. Meanwhile, focusing on severe particle sample degeneracy in the primary particle filter, an improved particle filter was proposed to reinforce the stability of particle filter. Being compared with localization using extended Kalman filter through simulation experiment the localization using particle filter is proved to have more locating accuracy in unknown underground space and better computational real-time ability, which solves the pre-localization problem of robot underground.
ISSN:1006-9097
1866-6566
DOI:10.1007/s12404-008-0107-0